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<div class="title">dIntersections.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/* Copyright (c) &lt;2003-2019&gt; &lt;Julio Jerez, Newton Game Dynamics&gt;</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">* </span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">* This software is provided &#39;as-is&#39;, without any express or implied</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">* warranty. In no event will the authors be held liable for any damages</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">* arising from the use of this software.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">* </span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">* Permission is granted to anyone to use this software for any purpose,</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">* including commercial applications, and to alter it and redistribute it</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">* freely, subject to the following restrictions:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">* </span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">* 1. The origin of this software must not be misrepresented; you must not</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">* claim that you wrote the original software. If you use this software</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">* in a product, an acknowledgment in the product documentation would be</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">* appreciated but is not required.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">* </span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">* 2. Altered source versions must be plainly marked as such, and must not be</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">* misrepresented as being the original software.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">* </span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">* 3. This notice may not be removed or altered from any source distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#ifndef __D_INTERSECTION_H__</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#define __D_INTERSECTION_H__</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &quot;dCoreStdafx.h&quot;</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &quot;dDebug.h&quot;</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &quot;dVector.h&quot;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &quot;dMatrix.h&quot;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">class </span><a class="code" href="classd_plane.html">dPlane</a>;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">enum</span> dIntersectStatus</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;{</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    t_StopSearh,</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    t_ContinueSearh</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;};</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">typedef</span> dIntersectStatus (*dAaabbIntersectCallback) (<span class="keywordtype">void</span>* <span class="keyword">const</span> context, </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;                                                      <span class="keyword">const</span> dFloat32* <span class="keyword">const</span> polygon, dInt32 strideInBytes,</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;                                                      <span class="keyword">const</span> dInt32* <span class="keyword">const</span> indexArray, dInt32 indexCount, dFloat32 hitDistance);</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">typedef</span> dFloat32 (*dRayIntersectCallback) (<span class="keywordtype">void</span>* <span class="keyword">const</span> context, </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;                                           <span class="keyword">const</span> dFloat32* <span class="keyword">const</span> polygon, dInt32 strideInBytes,</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;                                           <span class="keyword">const</span> dInt32* <span class="keyword">const</span> indexArray, dInt32 indexCount);</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;D_CORE_API <a class="code" href="classd_big_vector.html">dBigVector</a> dPointToRayDistance (<span class="keyword">const</span> <a class="code" href="classd_big_vector.html">dBigVector</a>&amp; point, <span class="keyword">const</span> <a class="code" href="classd_big_vector.html">dBigVector</a>&amp; ray_p0, <span class="keyword">const</span> <a class="code" href="classd_big_vector.html">dBigVector</a>&amp; ray_p1); </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;D_CORE_API <a class="code" href="classd_big_vector.html">dBigVector</a> dPointToTriangleDistance (<span class="keyword">const</span> <a class="code" href="classd_big_vector.html">dBigVector</a>&amp; point, <span class="keyword">const</span> <a class="code" href="classd_big_vector.html">dBigVector</a>&amp; p0, <span class="keyword">const</span> <a class="code" href="classd_big_vector.html">dBigVector</a>&amp; p1, <span class="keyword">const</span> <a class="code" href="classd_big_vector.html">dBigVector</a>&amp; p2);</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;D_CORE_API <a class="code" href="classd_big_vector.html">dBigVector</a> dPointToTetrahedrumDistance (<span class="keyword">const</span> <a class="code" href="classd_big_vector.html">dBigVector</a>&amp; point, <span class="keyword">const</span> <a class="code" href="classd_big_vector.html">dBigVector</a>&amp; p0, <span class="keyword">const</span> <a class="code" href="classd_big_vector.html">dBigVector</a>&amp; p1, <span class="keyword">const</span> <a class="code" href="classd_big_vector.html">dBigVector</a>&amp; p2, <span class="keyword">const</span> <a class="code" href="classd_big_vector.html">dBigVector</a>&amp; p3);</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;D_CORE_API <span class="keywordtype">bool</span> dRayBoxClip (<a class="code" href="classd_vector.html">dVector</a>&amp; ray_p0, <a class="code" href="classd_vector.html">dVector</a>&amp; ray_p1, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; boxP0, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; boxP1); </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;D_CORE_API <span class="keywordtype">void</span> dRayToRayDistance (<span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; ray_p0, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; ray_p1, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; ray_q0, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; ray_q1, <a class="code" href="classd_vector.html">dVector</a>&amp; p0Out, <a class="code" href="classd_vector.html">dVector</a>&amp; p1Out); </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;D_CORE_API dFloat32 dRayCastBox (<span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; p0, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; p1, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; boxP0, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; boxP1, <a class="code" href="classd_vector.html">dVector</a>&amp; normalOut);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;D_CORE_API dFloat32 dRayCastSphere (<span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; p0, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; p1, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; origin, dFloat32 radius);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;D_INLINE dInt32 dOverlapTest (<span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; p0, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; p1, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; q0, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; q1)</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;{</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> r0(p0 - q1);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> r1(p1 - q0);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> val(r0 * r1);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    dInt32 mask = val.GetSignMask() &amp; 0x07;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordflow">return</span> (mask == 0x07);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;}</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;D_INLINE dInt32 dBoxInclusionTest (<span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; p0, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; p1, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; q0, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; q1)</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;{</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> val(dVector::m_negOne &amp; ((p0 &gt;= q0) &amp; (p1 &lt;= q1)));</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    dInt32 mask = val.GetSignMask() &amp; 0x07;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordflow">return</span> (mask == 0x07);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;}</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;D_INLINE dInt32 dCompareBox (<span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; p0, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; p1, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; q0, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; q1)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;{</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    dAssert(0);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordflow">return</span> (p0.m_x != q0.m_x) || (p0.m_y != q0.m_y) || (p0.m_z != q0.m_z) || (p1.m_x != q1.m_x) || (p1.m_y != q1.m_y) || (p1.m_z != q1.m_z);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;}</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;D_INLINE <span class="keywordtype">void</span> dMovingAABB (<a class="code" href="classd_vector.html">dVector</a>&amp; p0, <a class="code" href="classd_vector.html">dVector</a>&amp; p1, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; veloc, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; omega, dFloat32 timestep, dFloat32 maxRadius, dFloat32 minRadius)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;{</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> linearStep (veloc.Scale (timestep));</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="comment">// estimate the maximum effect of the angular velocity and enlarge that box by that value (use 45 degrees as max angle not 90)</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    dAssert (omega.m_w == dFloat32 (0.0f));</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    dFloat32 maxAngle = dMin (dSqrt (omega.DotProduct(omega).GetScalar() * timestep * timestep), dFloat32 (45.0f * dDegreeToRad));</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    dFloat32 angularTravel = (maxRadius - minRadius) * maxAngle;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> angularStep (angularTravel, angularTravel, angularTravel, dFloat32 (0.0f));</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> r0 (p0 - angularStep);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> r1 (p1 + angularStep);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> q0 (r0 + linearStep);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> q1 (r1 + linearStep);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    p0 = r0.GetMin (q0) &amp; dVector::m_triplexMask;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    p1 = r1.GetMax (q1) &amp; dVector::m_triplexMask;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;}</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;D_INLINE dFloat32 dBoxPenetration (<span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; minBox, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; maxBox)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;{</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    dAssert(maxBox.m_x &gt;= minBox.m_x);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    dAssert(maxBox.m_y &gt;= minBox.m_y);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    dAssert(maxBox.m_z &gt;= minBox.m_z);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> mask ((minBox * maxBox) &lt; dVector::m_zero);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> dist (maxBox.GetMin (minBox.Abs()) &amp; mask);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    dist = dist.GetMin(dist.ShiftTripleRight());</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    dist = dist.GetMin(dist.ShiftTripleRight());</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keywordflow">return</span> dist.GetScalar();</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;}</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;D_INLINE dFloat32 dBoxDistanceToOrigin2 (<span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; minBox, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; maxBox)</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;{</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    dAssert(maxBox.m_x &gt;= minBox.m_x);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    dAssert(maxBox.m_y &gt;= minBox.m_y);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    dAssert(maxBox.m_z &gt;= minBox.m_z);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> mask ((minBox * maxBox) &gt; dVector::m_zero);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> dist (maxBox.Abs().GetMin (minBox.Abs()) &amp; mask);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordflow">return</span> dist.DotProduct(dist).GetScalar();</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;}</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;D_MSV_NEWTON_ALIGN_32</div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classd_fast_ray_test.html">  120</a></span>&#160;<span class="keyword">class </span><a class="code" href="classd_fast_ray_test.html">dFastRayTest</a></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;{</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    D_INLINE <a class="code" href="classd_fast_ray_test.html">dFastRayTest</a>(<span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; l0, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; l1)</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        :m_p0(l0)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        ,m_p1(l1)</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        ,m_diff((l1 - l0) &amp; dVector::m_triplexMask)</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        ,m_minT(dFloat32(0.0f))</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        ,m_maxT(dFloat32(1.0f))</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    {</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        dAssert(m_p0.m_w == dFloat32(0.0f));</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        dAssert(m_p1.m_w == dFloat32(0.0f));</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        dAssert(m_diff.m_w == dFloat32(0.0f));</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        dAssert (m_diff.DotProduct(m_diff).GetScalar() &gt; dFloat32 (0.0f));</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        m_isParallel = (m_diff.Abs() &lt; <a class="code" href="classd_vector.html">dVector</a>(1.0e-8f));</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="comment">//m_dpInv = (((dVector(dFloat32(1.0e-20)) &amp; m_isParallel) | m_diff.AndNot(m_isParallel)).Reciproc()) &amp; dVector::m_triplexMask;</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        m_dpInv = m_diff.Select (<a class="code" href="classd_vector.html">dVector</a>(dFloat32(1.0e-20f)), m_isParallel).Reciproc() &amp; dVector::m_triplexMask;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        m_unitDir = m_diff.Normalize();</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    D_CORE_API dFloat32 PolygonIntersect(<span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; normal, dFloat32 maxT, <span class="keyword">const</span> dFloat32* <span class="keyword">const</span> polygon, dInt32 strideInBytes, <span class="keyword">const</span> dInt32* <span class="keyword">const</span> indexArray, dInt32 indexCount) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    D_INLINE dInt32 BoxTest(<span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; minBox, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; maxBox)<span class="keyword"> const</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="preprocessor">#if 1</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> test(((m_p0 &lt;= minBox) | (m_p0 &gt;= maxBox)) &amp; m_isParallel);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keywordflow">if</span> (test.GetSignMask() &amp; 0x07) {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;            <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> tt0(m_dpInv * (minBox - m_p0));</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> tt1(m_dpInv * (maxBox - m_p0));</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> t0(m_minT.GetMax(tt0.GetMin(tt1)));</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> t1(m_maxT.GetMin(tt0.GetMax(tt1)));</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        t0 = t0.GetMax(t0.ShiftTripleRight());</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        t1 = t1.GetMin(t1.ShiftTripleRight());</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        t0 = t0.GetMax(t0.ShiftTripleRight());</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        t1 = t1.GetMin(t1.ShiftTripleRight());</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="keywordflow">return</span> ((t0 &lt; t1).GetSignMask() &amp; 1);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        dFloat32 tmin = 0.0f;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        dFloat32 tmax = 1.0f;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keywordflow">for</span> (dInt32 i = 0; i &lt; 3; i++) </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;            <span class="keywordflow">if</span> (m_isParallel[i]) </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;            {</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;                <span class="keywordflow">if</span> (m_p0[i] &lt;= minBox[i] || m_p0[i] &gt;= maxBox[i]) </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;                {</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;                    <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;                }</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;            } </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;            <span class="keywordflow">else</span> </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;            {</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                dFloat32 t1 = (minBox[i] - m_p0[i]) * m_dpInv[i];</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                dFloat32 t2 = (maxBox[i] - m_p0[i]) * m_dpInv[i];</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;                <span class="keywordflow">if</span> (t1 &gt; t2) </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                    dSwap(t1, t2);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                <span class="keywordflow">if</span> (t1 &gt; tmin) </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;                    tmin = t1;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;                }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;                <span class="keywordflow">if</span> (t2 &lt; tmax) </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;                {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;                    tmax = t2;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                <span class="keywordflow">if</span> (tmin &gt; tmax) </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;                    <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;                }</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;            }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <span class="keywordflow">return</span> 0x1;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    }</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    D_INLINE dFloat32 BoxIntersect(<span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; minBox, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; maxBox)<span class="keyword"> const</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> test(((m_p0 &lt;= minBox) | (m_p0 &gt;= maxBox)) &amp; m_isParallel);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <span class="keywordflow">if</span> (test.GetSignMask() &amp; 0x07) </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        {</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;            <span class="keywordflow">return</span> dFloat32(1.2f);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        }</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> tt0(m_dpInv * (minBox - m_p0));</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> tt1(m_dpInv * (maxBox - m_p0));</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> t0(m_minT.GetMax(tt0.GetMin(tt1)));</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> t1(m_maxT.GetMin(tt0.GetMax(tt1)));</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        t0 = t0.GetMax(t0.ShiftTripleRight());</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        t1 = t1.GetMin(t1.ShiftTripleRight());</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        t0 = t0.GetMax(t0.ShiftTripleRight());</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        t1 = t1.GetMin(t1.ShiftTripleRight());</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> mask(t0 &lt; t1);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> maxDist(dFloat32(1.2f));</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        t0 = maxDist.Select(t0, mask);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        dAssert((mask.GetSignMask() &amp; 1) == (t0.m_x &lt; dFloat32(1.0f)));</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        <span class="keywordflow">return</span> t0.GetScalar();</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a> m_p0;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a> m_p1;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a> m_diff;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> m_dpInv;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> m_minT;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> m_maxT;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> m_unitDir;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> m_isParallel;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;} D_GCC_NEWTON_ALIGN_32 ;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;D_MSV_NEWTON_ALIGN_32 </div>
<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="classd_fast_aabb_info.html">  236</a></span>&#160;<span class="keyword">class </span><a class="code" href="classd_fast_aabb_info.html">dFastAabbInfo</a> : <span class="keyword">public</span> <a class="code" href="classd_matrix.html">dMatrix</a></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;{</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    D_INLINE <a class="code" href="classd_fast_aabb_info.html">dFastAabbInfo</a>()</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        :<a class="code" href="classd_matrix.html">dMatrix</a>(dGetIdentityMatrix())</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        ,m_absDir(dGetIdentityMatrix())</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        ,m_p0(dVector::m_zero)</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        ,m_p1(dVector::m_zero)</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        ,m_size(dVector::m_zero)</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        ,m_separationDistance(dFloat32(1.0e10f))</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    {</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    }</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    D_INLINE <a class="code" href="classd_fast_aabb_info.html">dFastAabbInfo</a>(<span class="keyword">const</span> <a class="code" href="classd_matrix.html">dMatrix</a>&amp; matrix, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; size)</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        :<a class="code" href="classd_matrix.html">dMatrix</a>(matrix)</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        ,m_separationDistance(dFloat32(1.0e10f))</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    {</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        SetTransposeAbsMatrix (matrix);</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        m_size = <a class="code" href="classd_vector.html">dVector</a>(matrix[0].Abs().Scale(size.m_x) + matrix[1].Abs().Scale(size.m_y) + matrix[2].Abs().Scale(size.m_z));</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        m_p0 = (matrix[3] - m_size) &amp; dVector::m_triplexMask;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        m_p1 = (matrix[3] + m_size) &amp; dVector::m_triplexMask;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    D_INLINE <a class="code" href="classd_fast_aabb_info.html">dFastAabbInfo</a>(<span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; p0, <span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; p1)</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        :<a class="code" href="classd_matrix.html">dMatrix</a>(dGetIdentityMatrix())</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        ,m_absDir(dGetIdentityMatrix())</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        ,m_p0(p0)</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        ,m_p1(p1)</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        ,m_size(dVector::m_half * (p1 - p0))</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        ,m_separationDistance(dFloat32(1.0e10f))</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    {</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        m_posit = (dVector::m_half * (p1 + p0)) | dVector::m_wOne;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        dAssert(m_size.m_w == dFloat32(0.0f));</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        dAssert(m_posit.m_w == dFloat32(1.0f));</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    }</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    D_INLINE <span class="keywordtype">void</span> SetTransposeAbsMatrix (<span class="keyword">const</span> <a class="code" href="classd_matrix.html">dMatrix</a>&amp; matrix)</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    {</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        m_absDir = matrix.Transpose();</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;        m_absDir[0] = m_absDir[0].Abs();</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;        m_absDir[1] = m_absDir[1].Abs();</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        m_absDir[2] = m_absDir[2].Abs();</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;        <span class="comment">//m_absDir[3] = dVector::m_wOne;</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    }</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    D_INLINE dFloat32 PolygonBoxRayDistance (<span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; faceNormal, dInt32 indexCount, <span class="keyword">const</span> dInt32* <span class="keyword">const</span> indexArray, dInt32 stride, <span class="keyword">const</span> dFloat32* <span class="keyword">const</span> vertexArray, <span class="keyword">const</span> <a class="code" href="classd_fast_ray_test.html">dFastRayTest</a>&amp; ray)<span class="keyword"> const</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> minBox;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> maxBox;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        MakeBox1 (indexCount, indexArray, stride, vertexArray, minBox, maxBox);</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;        dFloat32 dist0 = ray.BoxIntersect(minBox, maxBox);</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        <span class="keywordflow">if</span> (dist0 &lt; dFloat32 (1.0f)) </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        {</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;            <a class="code" href="classd_matrix.html">dMatrix</a> faceMatrix (MakeFaceMatrix (faceNormal, indexCount, indexArray, stride, vertexArray));</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;            MakeBox2 (faceMatrix, indexCount, indexArray, stride, vertexArray, minBox, maxBox);</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;            <a class="code" href="classd_vector.html">dVector</a> veloc (faceMatrix.RotateVector(ray.m_diff) &amp; dVector::m_triplexMask);</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;            <a class="code" href="classd_fast_ray_test.html">dFastRayTest</a> localRay (<a class="code" href="classd_vector.html">dVector</a> (dFloat32 (0.0f)), veloc);</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;            dFloat32 dist1 = localRay.BoxIntersect(minBox, maxBox);</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;            dist0 = dMax (dist1, dist0);</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        }</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        <span class="keywordflow">return</span> dist0;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    }</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    D_INLINE dFloat32 PolygonBoxDistance (<span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; faceNormal, dInt32 indexCount, <span class="keyword">const</span> dInt32* <span class="keyword">const</span> indexArray, dInt32 stride, <span class="keyword">const</span> dFloat32* <span class="keyword">const</span> vertexArray)<span class="keyword"> const</span></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> minBox;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> maxBox;</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        MakeBox1 (indexCount, indexArray, stride, vertexArray, minBox, maxBox);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> mask(minBox * maxBox &lt; <a class="code" href="classd_vector.html">dVector</a>(dFloat32(0.0f)));</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> dist(maxBox.GetMin(minBox.Abs()) &amp; mask);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        dist = dist.GetMin(dist.ShiftTripleRight());</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        dist = dist.GetMin(dist.ShiftTripleRight());</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        dFloat32 dist0 = dist.GetScalar();</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        <span class="keywordflow">if</span> (dist0 &gt; dFloat32 (0.0f)) </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        {</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;            <a class="code" href="classd_matrix.html">dMatrix</a> faceMatrix (MakeFaceMatrix (faceNormal, indexCount, indexArray, stride, vertexArray));</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;            MakeBox2 (faceMatrix, indexCount, indexArray, stride, vertexArray, minBox, maxBox);</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;            <a class="code" href="classd_vector.html">dVector</a> mask2(minBox * maxBox &lt; <a class="code" href="classd_vector.html">dVector</a>(dFloat32(0.0f)));</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;            <a class="code" href="classd_vector.html">dVector</a> dist2(maxBox.GetMin(minBox.Abs()) &amp; mask2);</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;            dist2 = dist2.GetMin(dist2.ShiftTripleRight());</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;            dist2 = dist2.GetMin(dist2.ShiftTripleRight());</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;            dFloat32 dist1 = dist2.GetScalar();</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;            dist0 = (dist1 &gt; dFloat32 (0.0f)) ? dMax (dist0, dist1) : dFloat32 (0.0f);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;            <span class="keywordflow">if</span> (dist0 &lt;= dFloat32(0.0f)) </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;            {</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;                <a class="code" href="classd_vector.html">dVector</a> p1p0((minBox.Abs()).GetMin(maxBox.Abs()).AndNot(mask2));</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;                dist2 = p1p0.DotProduct(p1p0);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;                dist2 = dist2.Sqrt() * dVector::m_negOne;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;                dist0 = dist2.GetScalar();</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;            }</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        } </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        <span class="keywordflow">else</span> </div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;        {</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;            <a class="code" href="classd_vector.html">dVector</a> p1p0((minBox.Abs()).GetMin(maxBox.Abs()).AndNot(mask));</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;            dist = p1p0.DotProduct(p1p0);</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;            dist = dist.Sqrt() * dVector::m_negOne;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;            dist0 = dist.GetScalar();</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;        }</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        <span class="keywordflow">return</span>  dist0;</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    }</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    D_INLINE <span class="keywordtype">void</span> MakeBox1 (dInt32 indexCount, <span class="keyword">const</span> dInt32* <span class="keyword">const</span> indexArray, dInt32 stride, <span class="keyword">const</span> dFloat32* <span class="keyword">const</span> vertexArray, <a class="code" href="classd_vector.html">dVector</a>&amp; minBox, <a class="code" href="classd_vector.html">dVector</a>&amp; maxBox)<span class="keyword"> const</span></div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> faceBoxP0 (&amp;vertexArray[indexArray[0] * stride]);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        faceBoxP0 = faceBoxP0 &amp; dVector::m_triplexMask;</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> faceBoxP1 (faceBoxP0);</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        <span class="keywordflow">for</span> (dInt32 i = 1; i &lt; indexCount; i ++) </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        {</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;            <a class="code" href="classd_vector.html">dVector</a> p (&amp;vertexArray[indexArray[i] * stride]);</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;            p = p &amp; dVector::m_triplexMask;</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;            faceBoxP0 = faceBoxP0.GetMin(p); </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;            faceBoxP1 = faceBoxP1.GetMax(p); </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        }</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        minBox = faceBoxP0 - m_p1;</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        maxBox = faceBoxP1 - m_p0;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    }</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    D_INLINE <span class="keywordtype">void</span> MakeBox2 (<span class="keyword">const</span> <a class="code" href="classd_matrix.html">dMatrix</a>&amp; faceMatrix, dInt32 indexCount, <span class="keyword">const</span> dInt32* <span class="keyword">const</span> indexArray, dInt32 stride, <span class="keyword">const</span> dFloat32* <span class="keyword">const</span> vertexArray, <a class="code" href="classd_vector.html">dVector</a>&amp; minBox, <a class="code" href="classd_vector.html">dVector</a>&amp; maxBox)<span class="keyword"> const</span></div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> faceBoxP0 (faceMatrix.TransformVector (<a class="code" href="classd_vector.html">dVector</a> (&amp;vertexArray[indexArray[0] * stride]) &amp; dVector::m_triplexMask));</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> faceBoxP1 (faceBoxP0);</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;        <span class="keywordflow">for</span> (dInt32 i = 1; i &lt; indexCount; i ++) </div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;        {</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;            <a class="code" href="classd_vector.html">dVector</a> p (faceMatrix.TransformVector (<a class="code" href="classd_vector.html">dVector</a> (&amp;vertexArray[indexArray[i] * stride]) &amp; dVector::m_triplexMask));</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;            faceBoxP0 = faceBoxP0.GetMin(p); </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;            faceBoxP1 = faceBoxP1.GetMax(p); </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        }</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;        faceBoxP0 = faceBoxP0 &amp; dVector::m_triplexMask;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;        faceBoxP1 = faceBoxP1 &amp; dVector::m_triplexMask;</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160; </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        <a class="code" href="classd_matrix.html">dMatrix</a> matrix = *<span class="keyword">this</span> * faceMatrix;</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> size (matrix[0].Abs().Scale(m_size.m_x) + matrix[1].Abs().Scale(m_size.m_y) + matrix[2].Abs().Scale(m_size.m_z));</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> boxP0 ((matrix.m_posit - size) &amp; dVector::m_triplexMask);</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> boxP1 ((matrix.m_posit + size) &amp; dVector::m_triplexMask);</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160; </div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        minBox = faceBoxP0 - boxP1;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;        maxBox = faceBoxP1 - boxP0;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;    }</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160; </div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    D_INLINE <a class="code" href="classd_matrix.html">dMatrix</a> MakeFaceMatrix (<span class="keyword">const</span> <a class="code" href="classd_vector.html">dVector</a>&amp; faceNormal, dInt32 indexCount, <span class="keyword">const</span> dInt32* <span class="keyword">const</span> indexArray, dInt32 stride, <span class="keyword">const</span> dFloat32* <span class="keyword">const</span> vertexArray)<span class="keyword"> const</span></div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;        <a class="code" href="classd_matrix.html">dMatrix</a> faceMatrix;</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> origin (&amp;vertexArray[indexArray[0] * stride]);</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> pin (&amp;vertexArray[indexArray[0] * stride]);</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;        pin = pin &amp; dVector::m_triplexMask;</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        origin = origin &amp; dVector::m_triplexMask;</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160; </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;        <a class="code" href="classd_vector.html">dVector</a> pin1 (&amp;vertexArray[indexArray[1] * stride]);</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;        pin1 = pin1 &amp; dVector::m_triplexMask;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160; </div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;        faceMatrix[0] = faceNormal;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;        faceMatrix[1] = pin1 - origin;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;        faceMatrix[1] = faceMatrix[1].Normalize();</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        faceMatrix[2] = faceMatrix[0].CrossProduct(faceMatrix[1]);</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        faceMatrix[3] = origin | dVector::m_wOne; </div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;        <span class="keywordflow">return</span> faceMatrix.Inverse();</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    }</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160; </div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;    <a class="code" href="classd_matrix.html">dMatrix</a> m_absDir;</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> m_p0;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> m_p1;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    <a class="code" href="classd_vector.html">dVector</a> m_size;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    <span class="keyword">mutable</span> <a class="code" href="classd_vector.html">dVector</a> m_separationDistance;</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classd_aabb_polygon_soup.html">dAabbPolygonSoup</a>;</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;<span class="comment">//  friend class dCollisionUserMesh;</span></div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;<span class="comment">//  friend class dCollisionHeightField;</span></div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;} D_GCC_NEWTON_ALIGN_32 ;</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160; </div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160; </div>
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